Improving Agility In Mobile Robotics Matthew Bott

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Improving Agility In Mobile RoboticsMatthew Bott
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What is Agility

• Physical
• Movements of the robot
• Mental
• Thought processes behind actions

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Physical Agility Definition

• Quick
• Small
• Precise
• In any direction
• In rapid succession
• Giving an overall smooth motion

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Mental Agility Definition

• The mental loop
• Take in data
• Make a decision
• Create an Output
• Execution
• Fast
• Frequent
• Adaptable

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Development to Date

• Either
• Smooth
• Slow
• Or
• Jerky
• Fast
• Or
• Rigid programming

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Required Mental Capabilities

• Physical agility is impossible without mental
  agility
• Flexibility is required
• Generic Solution is desirable

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System Under Development

• Generic
• Adaptable
• Plans ahead
• Focuses on smooth movement

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Use of Splines

• Provide Smoothness
• Adaptability using via points
• Cubic
• Flexibility without over complexity

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The Rolling Disc Example
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The Rolling Disc Example 2
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Non-Holonomic Issues

• Change in control parameters important
• Start and end parameters do not define solution
• Only certain paths are possible
• Recognised as difficult to solve

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The Grand Plan

• Prove theory on Rolling Disc
• Prove theory on more advanced problem
• Prove theory in reality
• Requires custom built robot

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Acknowledgements

• Core Code by Dr Jonathon Lewis
• Core Idea by Dr Mike Weir

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Any Questions?